#include?“sys.h“
#include?“filter.h“
#include?“control.h“
#define?L4?PFin（0）??//pf0輸入
#define?L3?PFin（1）
#define?L2?PFin（2）
#define?L1?PFin（3）
#define?R1?PFin（4）
#define?R2?PFin（5）
#define?R3?PFin（6）
#define?R4?PFin（7）
/**************************************************************************
作者：平衡小車之家
我的淘寶小店：http://shop114407458.taobao.com/
**************************************************************************/
int?Balance_PwmVelocity_PwmTurn_Pwm;
u8?Flag_Target;
int?Voltage_TempVoltage_CountVoltage_All;
void?send_data（void）
{

????usart1_send（0xff）;
????usart1_send（0xfe）;	//起始校驗(yàn)位
????usart1_send（Angle_Balance）;
????usart1_send（Distance）;
????usart1_send（Eight_tracks（））;
????usart1_send（0）;
????usart1_send（0）;
????usart1_send（0）;
????usart1_send（0）;
????usart1_send（0）;
}

/**************************************************************************
函數(shù)功能:八路循跡模塊
入口參數(shù)：int
返回??值：unsigned?int
0?亮?黑
1?暗?白
**************************************************************************/
int?Eight_tracks（void）
{
????int?tempflag;
????if（flag==1）
????{
????????if（L4==1&&L3==1&&L2==1&&L1==1&&R1==1&&R2==1&&R3==1&&R4==1）
????????{
????????????flag=1;
????????????temp=0;
????????}

????????if（L4==0&&L3==0&&L2==0&&L1==1&&R1==1&&R2==0&&R3==0&&R4==0）
????????{
????????????temp=8;
????????????flag=1;
????????}

????????if（L4==0&&L3==0&&L2==1&&L1==1&&R1==0&&R2==0&&R3==0&&R4==0）
????????{
????????????temp=4;
????????????flag=1;
????????}

????????if（L4==0&&L3==0&&L2==0&&L1==0&&R1==1&&R2==1&&R3==0&&R4==0）
????????{
????????????temp=6;
????????????flag=1;
????????}

????????if（L4==0&&L3==0&&L2==0&&L1==0&&R1==0&&R2==0&&R3==0&&R4==0）
????????{
????????????temp=5;
????????????flag=1;
????????}

????????if（L4==0&&L3==0&&L2==0&&L1==0&&R1==0&&R2==0&&R3==0&&R4==0）
????????{
????????????temp=4;
????????????flag=1;
????????}
????}
????else
????{???
		flag=0;
????????temp=9;
????}
????return?temp;??//返回temp的值
}


/**************************************************************************
函數(shù)功能：獲取角度?三種算法經(jīng)過我們的調(diào)校，都非常理想
入口參數(shù)：獲取角度的算法?1：DMP??2：卡爾曼?3：互補(bǔ)濾波
返回??值：無
**************************************************************************/
void?Get_Angle（u8?way）

{

????float?Accel_YAccel_XAccel_ZGyro_YGyro_Z;
????Temperature=Read_Temperature（）;??????//===讀取MPU6050內(nèi)置溫度傳感器數(shù)據(jù)，近似表示主板溫度。
????if（way==1）???????????????????????????//===DMP的讀取在數(shù)據(jù)采集中斷提醒的時(shí)候，嚴(yán)格遵循時(shí)序要求
????{
????????Read_DMP（）;??????????????????????//===讀取加速度、角速度、傾角
????????Angle_Balance=Pitch;?????????????//===更新平衡傾角
????????Gyro_Balance=gyro[1];????????????//===更新平衡角速度
????????Gyro_Turn=gyro[2];???????????????//===更新轉(zhuǎn)向角速度
????????Acceleration_Z=accel[2];?????????//===更新Z軸加速度計(jì)
????????Angle_Balance=myabs（Angle_Balance）;
????}
????else
????{
????????Gyro_Y=（I2C_ReadOneByte（devAddrMPU6050_RA_GYRO_YOUT_H）<<8）+I2C_ReadOneByte（devAddrMPU6050_RA_GYRO_YOUT_L）;????//讀取Y軸陀螺儀
????????Gyro_Z=（I2C_ReadOneByte（devAddrMPU605

?屬性????????????大小?????日期????時(shí)間???名稱
-----------?---------??----------?-----??----

?????文件????????399??2011-05-09?18:17??循跡小車\檢測\keilkill.bat

?????文件???????5225??2018-12-27?21:22??循跡小車\檢測\MiniBalance\CONTROL\control.c

?????文件???????4875??2018-12-16?21:48??循跡小車\檢測\MiniBalance\CONTROL\control.c.orig

?????文件????????510??2018-12-14?21:41??循跡小車\檢測\MiniBalance\CONTROL\control.h

?????文件???????2891??2015-07-09?14:05??循跡小車\檢測\MiniBalance\DataScope_DP\DataScope_DP.C

?????文件????????586??2015-07-09?14:05??循跡小車\檢測\MiniBalance\DataScope_DP\DataScope_DP.h

?????文件??????19342??2012-12-14?11:16??循跡小車\檢測\MiniBalance\DMP\dmpKey.h

?????文件???????6765??2012-12-14?11:16??循跡小車\檢測\MiniBalance\DMP\dmpmap.h

?????文件??????84104??2015-07-09?14:05??循跡小車\檢測\MiniBalance\DMP\inv_mpu.c

?????文件???????4335??2015-07-09?14:05??循跡小車\檢測\MiniBalance\DMP\inv_mpu.h

?????文件??????57839??2015-07-09?14:05??循跡小車\檢測\MiniBalance\DMP\inv_mpu_dmp_motion_driver.c

?????文件???????3386??2015-07-09?14:05??循跡小車\檢測\MiniBalance\DMP\inv_mpu_dmp_motion_driver.h

?????文件???????2105??2015-12-07?15:52??循跡小車\檢測\MiniBalance\filter\filter.c

?????文件????????399??2016-04-06?14:10??循跡小車\檢測\MiniBalance\filter\filter.h

?????文件??????11323??2016-04-07?08:53??循跡小車\檢測\MiniBalance\MPU6050\MPU6050.c

?????文件??????15009??2016-04-07?08:53??循跡小車\檢測\MiniBalance\MPU6050\mpu6050.h

?????文件???????4893??2017-02-21?11:12??循跡小車\檢測\MiniBalance\show\show.c

?????文件????????331??2018-12-12?18:16??循跡小車\檢測\MiniBalance\show\show.h

?????文件??????17273??2010-06-07?10:25??循跡小車\檢測\MiniBalance_COER\core_cm3.c

?????文件??????85714??2011-02-09?14:59??循跡小車\檢測\MiniBalance_COER\core_cm3.h

?????文件??????12765??2011-03-10?10:52??循跡小車\檢測\MiniBalance_COER\startup_stm32f10x_md.s

?????文件???????2968??2017-02-21?09:40??循跡小車\檢測\MiniBalance_HARDWARE\ADC\adc.c

?????文件????????413??2016-04-07?08:53??循跡小車\檢測\MiniBalance_HARDWARE\ADC\adc.h

?????文件???????2887??2015-06-07?00:48??循跡小車\檢測\MiniBalance_HARDWARE\DataScope_DP\DataScope_DP.C

?????文件????????581??2015-05-04?12:37??循跡小車\檢測\MiniBalance_HARDWARE\DataScope_DP\DataScope_DP.h

?????文件??????19342??2012-12-14?11:16??循跡小車\檢測\MiniBalance_HARDWARE\DMP\dmpKey.h

?????文件???????6765??2012-12-14?11:16??循跡小車\檢測\MiniBalance_HARDWARE\DMP\dmpmap.h

?????文件??????84104??2015-07-09?14:05??循跡小車\檢測\MiniBalance_HARDWARE\DMP\inv_mpu.c

?????文件???????4335??2015-07-09?14:05??循跡小車\檢測\MiniBalance_HARDWARE\DMP\inv_mpu.h

?????文件??????57839??2015-07-09?14:05??循跡小車\檢測\MiniBalance_HARDWARE\DMP\inv_mpu_dmp_motion_driver.c

............此處省略505個(gè)文件信息